#ifndef _motor_h
#define _motor_h

#include "zf_common_headfile.h"

#define MOTOR_PWM_DUTY_MAX 10000

extern int pid_target_speed;
extern int motor_test;

void motor_init(void);
void speed_control(void);
void pwm_control (int32 duty_m1, int32 duty_m2);
void motor_control(void);

float differential_speed (void);
float diff_speed (float duty);
float real_speed(int speed);



#endif
